Chapter
Apr 26, 2012
Dynamic Modeling and Experimental Identification of Flexible Structure Mounted Manipulator System
Authors: Luiz Carlos Sandoval Góes, Francisco José Grandinetti, and Álvaro Manoel de Souza SoaresAuthor Affiliations
Publication: Robotics 2000
Abstract
The objective of this work is to describe the design and the implementation of an experiment to study the dynamics, the experimental identification and the active vibration control of a Flexible Structure Mounted Manipulator System (FSMS). The system consists of a three degree of freedom cylindrical manipulator system with a flexible link on its tip. A two-degree of freedom micro-manipulator is mounted on the flexible link of the macro manipulator. The dynamic modeling and experimental modal analysis identification in the frequency domain are being applied to design active digital control strategies for the micro-manipulator system to damp the mechanical vibrations of the flexible structure on the tip of the macro-manipulator system.
Get full access to this article
View all available purchase options and get full access to this chapter.
Information & Authors
Information
Published In
Copyright
© 2000 American Society of Civil Engineers.
History
Published online: Apr 26, 2012
Permissions
Request permissions for this article.
ASCE Technical Topics:
- Active control
- Continuum mechanics
- Dynamic models
- Dynamics (solid mechanics)
- Engineering fundamentals
- Engineering mechanics
- Models (by type)
- Motion (dynamics)
- Solid mechanics
- Structural control
- Structural dynamics
- Structural engineering
- Structural health monitoring
- Structural models
- Structural system identification
- Structural systems
- Vibration
Authors
Affiliations
Luiz Carlos Sandoval Góes
Instituto Tecnológico de Aeronáutica, São José dos Campos, SP, Brasil, 12.228-900
Francisco José Grandinetti
Instituto Tecnológico de Aeronáutica, São José dos Campos, SP, Brasil, 12.228-900 and Departamento de Engenharia Mecânica, Unitau, Taubaté, Brasil, 12080-000
Álvaro Manoel de Souza Soares
Departamento de Engenharia Mecânica, Unitau, Taubaté, Brasil, 12080-000
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.
View Options
Get Access
Access content
Please select your options to get access
Log in/Register
Log in via your institution (Shibboleth)
ASCE Members:
Please log in to see member pricing
Purchase
Save for later Item saved, go to cart Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Get Access
Access content
Please select your options to get access
Log in/Register
Log in via your institution (Shibboleth)
ASCE Members:
Please log in to see member pricing
Purchase
Save for later Item saved, go to cart Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.